Self-powered underwater glider based on attitude adjustment of wave power generation device

Abstract

The invention discloses a self-powered underwater glider based on attitude adjustment of a wave power generation device, and belongs to the technical field of underwater unmanned vehicles. The core innovation of the invention lies in that a set of energy conversion module with both power generation and driving functions is integrated in the streamline cabin. When the device floats to the sea surface, the device enters a power generation state, wave excitation force drives a stator and a rotor of a motor to generate relative linear motion, and wave energy in the heaving direction is efficiently captured and converted into electric energy to be stored; when the equipment dives and glides, the equipment is converted into a driving state and serves as a motor to accurately control the axial position of a rotor, so that the gravity center of the whole machine is adjusted, and pitching attitude control and floating and diving movement are achieved in cooperation with the buoyancy adjusting unit. According to the invention, the utilization rate of the space in the cabin is obviously improved, the maintenance cost is reduced, and an efficient and reliable energy self-supply solution is provided for long-time-sequence and large-range ocean observation tasks.

Description

TECHNICAL FIELD

[0002] The present application relates to the underwater unmanned vehicle technical field, especially to a self-powered underwater glider based on wave power generation device attitude adjustment. BACKGROUND

[0003] Underwater glider is a new type of underwater observation platform which realizes sawtooth-shaped gliding motion by adjusting its net buoyancy and center of gravity. It has the advantages of low energy consumption, long endurance, low noise, easy deployment, etc., and is widely used in marine environmental monitoring, resource exploration and military reconnaissance.

[0004] The existing underwater glider mainly relies on the carried battery to provide energy. Limited by the cabin space and load, the energy carrying amount seriously restricts the further development of the endurance and task load. Although there are attempts to use environmental energy such as temperature difference energy and wind energy, there are still many defects: the additional energy capture device will damage the streamlined shape of the glider, increase the navigation resistance; the temperature difference energy conversion efficiency is low; the wind energy is seriously restricted by weather conditions and has insufficient reliability.

[0005] Therefore, there is an urgent need for a new type of underwater glider which can efficiently utilize marine renewable energy, does not affect the hydrodynamic performance of the body, and can realize long endurance work. SUMMARY

[0006] The purpose of the present application is to provide a self-powered underwater glider based on wave power generation device attitude adjustment, which solves the problems of limited endurance, conflict between structure and hydrodynamic performance, and low environmental energy utilization efficiency.

[0007] To achieve the above purpose, the present application provides a self-powered underwater glider based on wave power generation device attitude adjustment, which comprises a streamlined cabin, a buoyancy adjusting system, an attitude control system and an energy system, characterized in that: The streamlined cabin comprises a detachable front fairing, a power generation and attitude adjustment cabin section, an energy storage and control cabin section, a buoyancy and attitude adjustment cabin section and a rear fairing in sequence along its axial direction; The power generation and attitude adjustment cabin section is provided with an energy conversion module, which comprises a stator assembly and a rotor assembly cooperating with each other; The stator assembly is fixedly installed on the inner wall of the cabin of the power generation and attitude adjustment cabin section; The rotor assembly is slidably connected to the stator assembly and can move linearly along the axial direction of the cabin; The energy conversion module is electrically connected to the energy system and has: Generating working state: when the underwater glider floats on the water surface, the wave force drives the stator assembly and the mover assembly to produce relative motion, converts wave energy into electrical energy and outputs to the energy system; Driving working state: the energy system supplies power to the energy conversion module, drives the mover assembly to move, and adjusts the center of gravity of the underwater glider by changing its axial position.

[0008] Preferably, the energy conversion module is a cylindrical permanent magnet linear motor, the stator assembly is a secondary permanent magnet part, and the mover assembly is a primary coil mover; the two ends of the secondary permanent magnet part are respectively fixedly connected to the upper sealing end cover of the power generation and attitude adjustment unit and the intermediate partition plate.

[0009] Preferably, the energy conversion module further comprises a guide mechanism, the guide mechanism comprises a mover guide rail fixedly connected with the cabin body of the power generation and attitude adjustment cabin section; the primary coil mover is sleeved on the mover guide rail and can slide along the axial direction thereof; the two ends of the mover guide rail are respectively fixedly connected to the upper sealing end cover and the intermediate partition plate.

[0010] Preferably, the energy conversion module further comprises an elastic reset element, the elastic reset element is an auxiliary spring, one end of which is connected to the upper sealing end cover, and the other end of which is connected to the primary coil mover, for providing a restoring force for the mover assembly in the generating working state.

[0011] Preferably, an energy storage and control module is arranged in the energy storage and control cabin section, the energy storage and control module is fixedly installed on the intermediate partition plate and is electrically connected with the energy conversion module through a cable.

[0012] Preferably, the buoyancy adjusting system comprises a buoyancy adjusting module and an outer oil bag; the buoyancy adjusting module is arranged in the buoyancy and attitude adjusting cabin section, and the two ends thereof are respectively connected to the lower end cover of the energy storage and control unit and the sealing end cover of the buoyancy and attitude adjusting unit; the buoyancy adjusting module is in fluid communication with the outer oil bag through an oil pipe; the outer oil bag is contained in the rear fairing.

[0013] Preferably, the attitude control system comprises a rudder module, the rudder module is arranged on the periphery of the cabin body of the buoyancy and attitude adjusting cabin section, and the rudder surface thereof is arranged outside the cabin body.

[0014] Preferably, two glider wings are symmetrically installed on the periphery of the cabin body of the buoyancy and attitude adjusting cabin section.

[0015] Preferably, a measurement unit is arranged in the front fairing, the measurement unit comprises a plurality of sensors, and the sensors are signal-connected with the energy storage and control module through a through-cabin piece.

[0016] Preferably, a communication antenna is installed on the rear fairing and is in signal connection with the energy storage and control module.

[0017] Therefore, the application has the following beneficial effects: (1) The underwater glider can float to the water surface during the non-working period, capture energy by using the wave power generation device built-in, and continue or wait to perform the next underwater navigation task after capturing enough energy. This method solves the problem of insufficient energy load of the underwater glider to some extent, and improves the working efficiency of the glider.

[0018] (2) The wave power generation device of the application adopts a linear generator, which can capture the energy contained in the heaving direction wave to supply the glider when the sea surface wave power generation state, and can control the motor rotor position as a motor to adjust the center of gravity of the underwater glider, change the attitude of the glider, and realize the floating and diving. This design can realize one machine with two functions, which not only matches the two working states of the glider, but also greatly improves the space utilization rate of the cabin.

[0019] (3) The power generation unit of the underwater glider is fully built-in and completely encapsulated inside the streamlined cabin. This highly integrated layout makes it unnecessary to add any necessary power generation device or cable outside the glider, thereby maintaining the smooth and smooth overall shape profile to the greatest extent. This streamlined design has little interference with the hydrodynamic performance of the glider, effectively reduces the navigation resistance, and improves the motion efficiency and endurance. At the same time, the power generation unit is designed as a modular structure, with simple and efficient internal structure and no redundant complex components. This modular and simple design feature significantly simplifies the installation process and subsequent maintenance operation, greatly reducing the installation and maintenance cost.

[0020] (4) The linear generator of the application adopts a cylindrical permanent magnet linear generator, which has the advantages of high power density, low thrust fluctuation, and no radial electromagnetic force, which is beneficial to the improvement of wave energy capture efficiency.

[0021] (5) The overall shape of the underwater glider is a hollow cylindrical structure, the middle cabin adopts an equal cross-section design, and the two sides adopt a streamlined fairing, which not only reduces the navigation resistance, but also helps to obtain wave energy when floating on the water surface, and improves the energy conversion efficiency.

[0022] The technical solutions of the application will be further described in detail below with reference to the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 This is a schematic cross-sectional view of the structure of a self-powered underwater glider based on attitude adjustment using a wave power generation device according to the present invention. Figure 2 This is a half-sectional schematic diagram of the structure of a self-powered underwater glider based on attitude adjustment of a wave power generation device according to the present invention. Figure 3 This is a schematic diagram of the power generation operation of a self-powered underwater glider based on attitude adjustment of a wave power generation device according to the present invention. Figure Labels I-Front fairing and measurement unit, II-Power generation and attitude adjustment unit, III-Energy storage and control unit, IV-Buoyancy and attitude adjustment unit, V-Rear fairing; 1-Sensor, 2-Upper sealed end cap, 3-Motor guide rail, 4-Primary coil mover, 5-Secondary permanent magnet part, 6-Lower end cap, 7-Buoyancy adjustment module, 8-Sealed end cap, 9-Auxiliary spring, 10-Intermediate partition, 11-Energy storage and control module, 12-Wing, 13-Servo module, 14-External oil bladder, 15-Communication antenna. Detailed Implementation

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] Example like Figure 1 As shown, the present invention provides a self-powered underwater glider based on attitude adjustment of a wave power generation device. The glider captures wave energy through a permanent magnet linear generator built into it and supplies it to its own working unit. Furthermore, since the position of the linear generator mover in the wave power generation device can be adjusted by the control system, it has the ability to adjust the center of gravity of the underwater glider.

[0027] like Figure 2As shown, the underwater glider comprises a structure I as a front fairing and a measuring unit, a structure II as a power generation and attitude adjustment unit, a structure III as an energy storage and control unit, a structure IV as a buoyancy and attitude adjustment unit, and a structure V as a rear fairing.

[0028] The structure I as the front fairing and the measuring unit of the underwater glider comprises a hollow shell with a streamlined shape, and the measuring unit comprises various sensors 1 which can be connected with the energy storage and control module 11 through a through-passage.

[0029] The power generation and attitude adjustment unit II mainly comprises a permanent magnet linear generator, the secondary part 5 of the permanent magnet linear generator is connected with the upper sealing end cover 2 of the power generation and attitude adjustment unit and the intermediate partition plate 10, the linear generator coil primary mover 4 is sleeved on the generator mover guide rail 3, the guide rail is also connected with the upper sealing end cover 2 of the power generation and attitude adjustment unit and the intermediate partition plate 10, and the auxiliary spring 9 is connected with the upper sealing end cover 2 of the power generation and attitude adjustment unit and the linear generator coil primary mover 4.

[0030] The energy storage and control unit III comprises the energy storage and control module 11 which is fixed on the intermediate partition plate 11 and is used for generator control, energy collection and glider motion control.

[0031] The buoyancy and attitude adjustment unit IV mainly comprises a buoyancy adjustment module 7 and a rudder module 13, the two ends of the buoyancy adjustment module are connected with the lower end cover 6 of the energy storage and control unit and the sealing end cover 8 of the buoyancy and attitude adjustment unit, the rudder module 13 comprises a rudder and a rudder surface, the rudder is arranged inside the cabin body, and the rudder surface is arranged outside the cabin body. The two glider wings 12 are evenly arranged on the periphery of the cabin body of the structure IV.

[0032] The rear fairing V is also a hollow shell with a streamlined shape, a communication antenna 7 is arranged on the rear fairing V and is used for realizing command receiving and transmitting and data transmission of the underwater glider, and an outer oil tank 14 is arranged inside the rear fairing V and is used for realizing glider buoyancy adjustment.

[0033] Working process: The underwater glider mainly comprises two working states, the first one is an underwater gliding state, and the second one is a sea wave power generation state.

[0034] When gliding underwater, a single operational cycle of the underwater glider consists of two phases: descent and ascent. During the descent phase, the external fuel bladder 14 is deflated by the buoyancy adjustment module 7, reducing the overall buoyancy of the glider. Simultaneously, the power generation unit II, acting as a motor, moves the mover forward to reduce the glider's pitch angle, and the glider begins to descend. During the ascent phase, the external fuel bladder 14 is refilled by the buoyancy adjustment module 7, increasing the overall buoyancy of the glider. The power generation unit II, acting as a motor, moves the mover backward to increase the glider's pitch angle, and the glider begins to ascend. The glider can be turned by changing the angle of the servo module 13 during both the descent and ascent phases.

[0035] When generating electricity using wave energy from the sea surface, such as Figure 3 As shown, the glider rises to the water surface via the buoyancy adjustment unit and attitude adjustment unit IV, and then lies upside down on the water. At this time, the auxiliary spring 9 is used to keep the primary mover 4 of the generator balanced at the middle position of the motor stroke when stable. The generator unit II acts as the generator. The vibration of the glider's outer casing by the wave excitation force causes the secondary 5 of the permanent magnet linear generator built in it to move relative to the primary mover 4, thereby generating electrical energy. The generated electrical energy is collected in the battery by the energy storage and control module 11.

[0036] In summary, the underwater glider of the present invention can utilize the wave energy captured while floating on the water surface to provide its own power. The glider itself can reduce the amount of battery carried, retaining only a portion of the battery for collecting wave energy. At the same time, the linear generator can act as an electric motor to drive the movement of the mover to change the position of the underwater glider's center of gravity, thereby enabling the glider to ascend and descend.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A self-powered underwater glider with attitude adjustment based on a wave power generation device, comprising a streamlined cabin, a buoyancy adjustment system, an attitude control system, and an energy system, characterized in that: The streamlined cabin includes, along its axial direction, a detachably connected front fairing, a power generation and attitude adjustment section, an energy storage and control section, a buoyancy and attitude adjustment section, and a rear fairing. The power generation and attitude adjustment compartment is equipped with an energy conversion module, which includes a stator assembly and a mover assembly that cooperate with each other. The stator assembly is fixedly installed on the inner wall of the power generation and attitude adjustment compartment. The moving part assembly is slidably connected to the stator assembly and can move linearly along the axial direction of the cabin. The energy conversion module is electrically connected to the energy system and has the following characteristics: Power generation operation: When the underwater glider floats on the water surface, wave force drives the stator assembly and the mover assembly to generate relative motion, converting wave energy into electrical energy and outputting it to the energy system; Driving operation: The energy system supplies power to the energy conversion module, driving the motion of the propeller assembly to adjust the center of gravity of the underwater glider by changing its axial position.

2. The self-powered underwater glider based on attitude adjustment using a wave power generation device according to claim 2, characterized in that: The energy conversion module is a cylindrical permanent magnet linear motor, the stator assembly is the secondary permanent magnet part, and the mover assembly is the primary coil mover; the two ends of the secondary permanent magnet part are respectively fixedly connected to the sealing end cover and the intermediate partition plate on the power generation and attitude adjustment unit.

3. The self-powered underwater glider based on attitude adjustment using a wave power generation device according to claim 3, characterized in that: The energy conversion module further includes a guiding mechanism, which includes a mover guide rail fixedly connected to the body of the power generation and attitude adjustment compartment; the primary coil mover is sleeved on the mover guide rail and can slide along its axial direction; the two ends of the mover guide rail are respectively fixedly connected to the upper sealing end cover and the middle partition.

4. A self-powered underwater glider based on attitude adjustment using a wave power generation device as described in claim 1, characterized in that: The energy conversion module also includes an elastic reset element, which is an auxiliary spring. One end of the elastic reset element is connected to the upper sealing end cover, and the other end is connected to the primary coil mover, which is used to provide restoring force to the mover assembly in the power generation working state.

5. A self-powered underwater glider based on attitude adjustment using a wave power generation device according to claim 1, characterized in that: The energy storage and control compartment is equipped with an energy storage and control module, which is fixedly installed on the intermediate partition and electrically connected to the energy conversion module via cables.

6. A self-powered underwater glider based on attitude adjustment using a wave power generation device according to claim 1, characterized in that: The buoyancy adjustment system includes a buoyancy adjustment module and an external oil bladder; the buoyancy adjustment module is located in the buoyancy and attitude adjustment compartment, and its two ends are respectively connected to the lower end cover of the energy storage and control unit and the sealing end cover of the buoyancy and attitude adjustment unit; the buoyancy adjustment module is in fluid communication with the external oil bladder through an oil pipe; the external oil bladder is housed inside the rear fairing.

7. A self-powered underwater glider based on attitude adjustment using a wave power generation device according to claim 1, characterized in that: The attitude control system includes a servo module, which is located on the periphery of the buoyancy and attitude adjustment compartment, with its control surfaces positioned on the outside of the compartment.

8. A self-powered underwater glider based on attitude adjustment using a wave power generation device according to claim 1, characterized in that: Two glider wings are symmetrically mounted on the outer perimeter of the buoyancy and attitude control section.

9. A self-powered underwater glider based on attitude adjustment using a wave power generation device according to claim 1, characterized in that: A measurement unit is installed inside the front fairing. The measurement unit includes multiple sensors, which are connected to the energy storage and control module via a through-cabin component.

10. A self-powered underwater glider based on attitude adjustment using a wave power generation device according to claim 10, characterized in that: The communication antenna is mounted on the rear fairing and is connected to the energy storage and control module via signal transmission.

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